Put a bolt in it, threaded in three turns. For example, if you have an M6-1.0-hole threaded 20mm into something, thread an M6-1.0X20mm bolt in three turns. Your scan will then have information on the alignment of the hole, and from the bolt diameter and size of the bolt head you can determine what size the thread is, and the height of the bolt head tells you how deep the hole is.
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